La recerca s'articula en dues línies amb els objectius que es detallen a continuació.

Percepció i Manipulació:
1. Enllaçar percepció i acció utilitzant mètodes geomètrics i estadístics per al modelatge de l'entorn i del propi robot, per a la planificació de tasques i moviments, i per a l'aprenentatge.
2. Aprofundir en l'aprenentatge per reforçament i en l'aprenentatge per demostració, en particular el "mestratge", com a base per a la interacció entre robots, humans i l'entorn.

Cinemàtica i Disseny de Robots:
3. Trobar mètodes generals i complets per a l'anàlisi i la planificació de moviments lliures de col·lisió de mecanismes.
4. Desenvolupar noves estructures mecàniques, preferentment robots paral·lels i robots basats en estructures "tensegrity".
5. Incrementar i millorar l'expertesa del grup en l'àrea del disseny mecànic


La investigación se articula en dos líneas con los objectivos que se detallan a continuación.

Percepción y Manipulación:
1. Enlazar percepción y acción utilitzando métodos geométricos y estadísticos para el modelado del entorno y del propio robot, para la planificación de tareas y movimientos, y para el aprendizaje.
2. Profundizar en el aprendizaje por refuerzo y en el aprendizaje por demostración, en particular el entrenamiento, como base para la interacción entre robots, humanos y el entorno.

Cinemática y Diseño de Robots:
3. Encontrar métodos generales y completos para análisis y planificación de movimientos libres de colisión.
4. Desarrollar nuevas estructuras mecánicas, preferentmente robots paralelos y robots "tensegrity".
5. Incrementar y mejorar la competencia del grupo en el área del diseño mecánico.


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.

Enviaments recents

  • Force-based representation for non-rigid shape and elastic model estimation 

    Agudo Martínez, Antonio; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018-09-01)
    Article
    Accés obert
    IEEE This paper addresses the problem of simultaneously recovering 3D shape, pose and the elastic model of a deformable object from only 2D point tracks in a monocular video. This is a severely under-constrained problem ...
  • Towards safety in physically assistive robots: eating assistance 

    Vila Abad, Maria; Canal Camprodon, Gerard; Alenyà Ribas, Guillem (2018)
    Text en actes de congrés
    Accés obert
    Safety is one of the base elements to build trust in robots. This paper studies remedies to unavoidable collisions using robotics assistive feeding as an example task. Firstly, we propose an attention mechanism so the user ...
  • Vehicle pose estimation using G-Net: multi-class localization and depth estimation 

    García López, Javier; Agudo Martínez, Antonio; Moreno-Noguer, Francesc (IOS Press, 2018)
    Text en actes de congrés
    Accés obert
    In this paper we present a new network architecture, called G-Net, for 3D pose estimation on RGB images which is trained in a weakly supervised manner. We introduce a two step pipeline based on region-based Convolutional ...
  • Geometry-aware network for non-rigid shape prediction from a single view 

    Pumarola Peris, Albert; Agudo Martínez, Antonio; Porzi, Lorenzo; Sanfeliu Cortés, Alberto; Lepetit, Vincent; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    We propose a method for predicting the 3D shape of a deformable surface from a single view. By contrast with previous approaches, we do not need a pre-registered template of the surface, and our method is robust to the ...
  • Unsupervised person image synthesis in arbitrary poses 

    Pumarola Peris, Albert; Agudo Martínez, Antonio; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    We present a novel approach for synthesizing photo-realistic images of people in arbitrary poses using generative adversarial learning. Given an input image of a person and a desired pose represented by a 2D skeleton, our ...
  • Hallucinating dense optical flow from sparse lidar for autonomous vehicles 

    Vaquero Gómez, Víctor; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    In this paper we propose a novel approach to estimate dense optical flow from sparse lidar data acquired on an autonomous vehicle. This is intended to be used as a drop-in replacement of any image-based optical flow system ...
  • 2D-to-3D facial expression transfer 

    Rotger Moll, Gemma; Lumbreras, Felipe; Moreno-Noguer, Francesc; Agudo Martínez, Antonio (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    Automatically changing the expression and physical features of a face from an input image is a topic that has been traditionally tackled in a 2D domain. In this paper, we bring this problem to 3D and propose a framework ...
  • Image collection pop-up: 3D reconstruction and clustering of rigid and non-rigid categories 

    Agudo Martínez, Antonio; Pijoan Comas, Melcior; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    This paper introduces an approach to simultaneously estimate 3D shape, camera pose, and object and type of deformation clustering, from partial 2D annotations in a multi-instance collection of images. Furthermore, we can ...
  • Adaptive modality selection algorithm in robot-assisted cognitive training 

    Taranovic, Aleksandar; Jevtic, Aleksandar; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    Interaction of socially assistive robots with users is based on social cues coming from different interaction modalities, such as speech or gestures. However, using all modalities at all times may be inefficient as it can ...
  • Interleaving hierarchical task planning and motion constraint testing for dual-arm manipulation 

    Suárez Hernández, Alejandro; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    In recent years the topic of combining motion and symbolic planning to perform complex tasks in the field of robotics has received a lot of attention. The underlying idea is to have access at once to the reasoning capabilities ...
  • Social networks and robot companions: technology, ethics and science fiction 

    Torras, Carme (2018)
    Article
    Accés obert
    Information technologies have become part of our everyday lives and are increasingly acting as intermediaries in our workplaces and personal relationships or even substituting them. This growing interaction with machines ...
  • Aprenentatge automàtic en xarxes i robots: reptes tecnocientífics i implicacions ètiques 

    Torras, Carme (Institut d'Estudis Catalans (IEC), 2018)
    Llibre
    Accés obert
    Discurs de presentació de Carme Torras i Genís com a membre numerària de la Secció de Ciències i Tecnologia, llegit el dia 17 de desembre de 2018. Resum: Després de definir els conceptes d'adaptació i d'aprenentatge, es ...

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